| 1,4 → 1,4 |
|---|
| <parameterset eepromVersion="3" length="84" name="hundeprut"> |
| <parameterset eepromVersion="4" length="73" name="hundeprut"> |
| <parameter name="bitConfig"> |
| <bit name="CFG_SIMPLE_HEIGHT_CONTROL" value="1" /> |
| <bit name="CFG_SIMPLE_HC_HOLD_SWITCH" value="1" /> |
| 10,30 → 10,6 |
|---|
| <bit name="CFG_GYRO_SATURATION_PREVENTION" value="1" /> |
| </parameter> |
| |
| <parameter name="gyroQuadrant" value="0" /> |
| <parameter name="accQuadrant" value="4" /> |
| <parameter name="imuReversedFlags"> |
| <bit name="IMU_REVERSE_GYRO_PR" value="0" /> |
| <bit name="IMU_REVERSE_GYRO_YAW" value="0" /> |
| <bit name="IMU_REVERSE_ACC_XY" value="1" /> |
| <bit name="IMU_REVERSE_ACC_Z" value="0" /> |
| <bit name="Unused" value="0" /> |
| <bit name="Unused" value="0" /> |
| <bit name="Unused" value="0" /> |
| <bit name="Unused" value="0" /> |
| </parameter> |
| |
| <parameter name="gyroPIDFilterConstant" value="1" /> |
| <parameter name="gyroDFilterConstant" value="1" /> |
| <parameter name="accFilterConstant" value="15" /> |
| |
| <parameter name="zerothOrderCorrection" value="10" /> |
| <parameter name="rateTolerance" value="100" /> |
| <parameter name="yawRateFactor" value="64" /> |
| |
| <parameter name="driftCompDivider" value="2" /> |
| <parameter name="driftCompLimit" value="0" /> |
| |
| <parameter name="levelCorrectionPitch" value="var1" /> |
| <parameter name="levelCorrectionRoll" value="var2" /> |
| |
| 70,7 → 46,7 |
|---|
| <parameter name="airpressureFilterConstant" value="8" /> |
| <parameter name="airpressureWindowLength" value="0" /> |
| <parameter name="airpressureDWindowLength" value="24" /> |
| <parameter name="airpressureAccZCorrection" value="184" /> |
| <parameter name="airpressureAccZCorrection" value="0" /> <!-- 184 for my 2.0 board. --> |
| <parameter name="heightP" value="110" /> |
| <parameter name="heightI" value="90" /> |
| <parameter name="heightD" value="25" /> <!-- 30 --> |